# Geofence Configuration
# GPS is ONLY used for safety boundaries, NOT navigation

/**:
  ros__parameters:
    
    geofence:
      enabled: true
      
      # Fence type
      type: "polygon"  # Options: "polygon", "circle", "cylinder"
      
      # Polygon fence (GPS coordinates for safety boundary)
      polygon_fence:
        points:
          - latitude: 47.397742
            longitude: 8.545594
          - latitude: 47.398242
            longitude: 8.545594
          - latitude: 47.398242
            longitude: 8.546094
          - latitude: 47.397742
            longitude: 8.546094
        
        # Close the polygon automatically
        auto_close: true
      
      # Circular fence (alternative to polygon)
      circle_fence:
        center_latitude: 47.397742
        center_longitude: 8.545594
        radius_meters: 100
        
      # Cylinder fence (circle + altitude limits)
      cylinder_fence:
        center_latitude: 47.397742
        center_longitude: 8.545594
        radius_meters: 100
        min_altitude: 0  # meters AGL
        max_altitude: 50  # meters AGL
      
      # Altitude limits (applies to all fence types)
      altitude_limits:
        min_altitude: 0.0  # meters AGL
        max_altitude: 50.0  # meters AGL
        enable_floor: true
        enable_ceiling: true
      
      # Fence actions
      actions:
        on_breach: "RTL"  # Options: "RTL", "LAND", "HOLD", "ALERT_ONLY"
        warning_distance: 10.0  # meters from fence
        warning_action: "ALERT"  # Options: "ALERT", "SLOW_DOWN"
        
      # Monitoring
      check_rate: 10  # Hz
      consecutive_breaches_required: 3  # Require 3 consecutive breaches before action
      
      # Visualization
      publish_markers: true
      marker_topic: "/geofence/markers"
      marker_color:
        safe: {r: 0.0, g: 1.0, b: 0.0, a: 0.5}
        warning: {r: 1.0, g: 1.0, b: 0.0, a: 0.7}
        breach: {r: 1.0, g: 0.0, b: 0.0, a: 0.9}
      
      # Multi-vehicle support
      vehicles:
        uav:
          enabled: true
          namespace: "/uav"
          gps_topic: "/uav/mavros/global_position/global"
        ugv:
          enabled: true
          namespace: "/ugv"
          gps_topic: "/ugv/gps/fix"